SimpleTankモデルファイル全記述内容¶
Bodyファイルチュートリアル で解説したTankモデルを記述しているモデルファイルの全テキストを以下に掲載します。本モデルは Choreonoid インストール先の "share/model/tank/simpletank.body" というファイルに格納されています。
1format: ChoreonoidBody
2formatVersion: 1.0
3angleUnit: degree
4name: SimpleTank
5
6links:
7 -
8 name: CHASSIS
9 translation: [ 0, 0, 0.1 ]
10 jointType: free
11 centerOfMass: [ 0, 0, 0 ]
12 mass: 8.0
13 inertia: [
14 0.1, 0, 0,
15 0, 0.1, 0,
16 0, 0, 0.5 ]
17 elements:
18 Shape:
19 geometry:
20 type: Box
21 size: [ 0.45, 0.3, 0.1 ]
22 appearance: &BodyAppearance
23 material:
24 diffuseColor: [ 0, 0.6, 0 ]
25 specularColor: [ 0.2, 0.8, 0.2 ]
26 shininess: 0.6
27 -
28 name: TURRET_Y
29 parent: CHASSIS
30 translation: [ -0.04, 0, 0.1 ]
31 jointType: revolute
32 jointAxis: -Z
33 jointRange: unlimited
34 maxJointVelocity: 90
35 jointId: 0
36 centerOfMass: [ 0, 0, 0.025 ]
37 mass: 4.0
38 inertia: [
39 0.1, 0, 0,
40 0, 0.1, 0,
41 0, 0, 0.1 ]
42 elements:
43 Shape:
44 geometry:
45 type: Box
46 size: [ 0.2, 0.2, 0.1 ]
47 appearance: *BodyAppearance
48 -
49 name: TURRET_P
50 parent: TURRET_Y
51 translation: [ 0, 0, 0.05 ]
52 jointType: revolute
53 jointAxis: -Y
54 jointRange: [ -10, 45 ]
55 maxJointVelocity: 90
56 jointId: 1
57 elements:
58 -
59 # Turret
60 type: RigidBody
61 centerOfMass: [ 0, 0, 0 ]
62 mass: 3.0
63 inertia: [
64 0.1, 0, 0,
65 0, 0.1, 0,
66 0, 0, 0.1 ]
67 elements:
68 Shape:
69 geometry:
70 type: Cylinder
71 height: 0.1
72 radius: 0.1
73 appearance: *BodyAppearance
74 -
75 # Gun
76 type: Transform
77 translation: [ 0.2, 0, 0 ]
78 rotation: [ 0, 0, 1, 90 ]
79 elements:
80 RigidBody:
81 centerOfMass: [ 0, 0, 0 ]
82 mass: 1.0
83 inertia: [
84 0.01, 0, 0,
85 0, 0.1, 0,
86 0, 0, 0.1 ]
87 elements:
88 Shape:
89 geometry:
90 type: Cylinder
91 height: 0.2
92 radius: 0.02
93 appearance: *BodyAppearance
94 -
95 type: SpotLight
96 name: Light
97 translation: [ 0.08, 0, 0.1 ]
98 direction: [ 1, 0, 0 ]
99 beamWidth: 36
100 cutOffAngle: 40
101 cutOffExponent: 6
102 attenuation: [ 1, 0, 0.01 ]
103 elements:
104 Shape:
105 rotation: [ 0, 0, 1, 90 ]
106 translation: [ -0.02, 0, 0 ]
107 geometry:
108 type: Cone
109 height: 0.04
110 radius: 0.025
111 appearance:
112 material:
113 diffuseColor: [ 1.0, 1.0, 0.4 ]
114 ambientIntensity: 0.3
115 emissiveColor: [ 0.8, 0.8, 0.3 ]
116 -
117 type: Camera
118 name: Camera
119 translation: [ 0.1, 0, 0.05 ]
120 rotation: [ [ 1, 0, 0, 90 ], [ 0, 1, 0, -90 ] ]
121 format: COLOR_DEPTH
122 fieldOfView: 65
123 width: 320
124 height: 240
125 frameRate: 30
126 elements:
127 Shape:
128 translation: [ 0, 0, 0.005 ]
129 rotation: [ 1, 0, 0, 90 ]
130 geometry:
131 type: Cylinder
132 radius: 0.02
133 height: 0.02
134 appearance:
135 material:
136 diffuseColor: [ 0.2, 0.2, 0.8 ]
137 specularColor: [ 0.6, 0.6, 1.0 ]
138 shininesss: 0.6
139 -
140 name: TRACK_L
141 parent: CHASSIS
142 translation: [ 0, 0.2, 0 ]
143 jointType: fixed
144 jointAxis: Y
145 actuationMode: jointSurfaceVelocity
146 centerOfMass: [ 0, 0, 0 ]
147 mass: 1.0
148 inertia: [
149 0.02, 0, 0,
150 0, 0.02, 0,
151 0, 0, 0.02 ]
152 elements:
153 Shape: &TRACK
154 geometry:
155 type: Extrusion
156 crossSection: [
157 -0.22, -0.1,
158 0.22, -0.1,
159 0.34, 0.06,
160 -0.34, 0.06,
161 -0.22, -0.1
162 ]
163 spine: [ 0, -0.05, 0, 0, 0.05, 0 ]
164 appearance:
165 material:
166 diffuseColor: [ 0.2, 0.2, 0.2 ]
167 -
168 name: TRACK_R
169 parent: CHASSIS
170 translation: [ 0, -0.2, 0 ]
171 jointType: fixed
172 jointAxis: Y
173 actuationMode: jointSurfaceVelocity
174 centerOfMass: [ 0, 0, 0 ]
175 mass: 1.0
176 inertia: [
177 0.02, 0, 0,
178 0, 0.02, 0,
179 0, 0, 0.02 ]
180 elements:
181 Shape: *TRACK